CHE 509: Process Dynamics

MODULE 5:
Dynamic Behaviour of More Complicated Systems

Ayorinde Bamimore, Ph.D.

Department of Chemical Engineering
Obafemi Awolowo University
 Module Objective
 To study and Characterize the dynamic
behavior of more complicated systems.

u(s) y(s)
g(s)

Types of input Types of output response

 Step  Step response
 Impulse response
 Impulse
 Pulse response
 pulse
 Ramp response
 Ramp  Sinusoidal response
 Sinusoidal

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 Module Objective
 To study and Characterize the dynamic
behavior of more complicated systems:
 Second order system with numerator
dynamics.
 System with time delay.

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 Transient Response of a Second Order System with Numerator Dynamics

Example 5.1: Obtain the response of a second order system

with numerator dynamics to a step input of size M:

(5.9)
Solution:
I. The step input of magnitude M,
II. The Laplace transform is obtained as,
III. Combining the input u(s) with g(s), we obtain
(5.10)

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 Second Order System with Numerator Dynamics

IV. Invert y(s) to obtain y(t)

(5.11)
It is left as an exercise for the students how the inversion
leads to:

(5.12)

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 Second Order System with Numerator Dynamics

Case i:
(

Case ii:
(

Case iii:
(

Fig. 5.8: Step response of an overdamped second order system for different
values of ( , )

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 Transient Response of Systems with Time Delay

Example 5.2: Suppose a process has a transfer function:

(5.13)
Obtain its unit step response in time domain.
Solution:
I. The step input of magnitude 1,
II. The Laplace transform is obtained as,
III. Combining the input u(s) with g(s), we obtain
(5.14)

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 Transient Response of Systems with Time Delay

Ignore the delay term and resolve into partial fractions:

(5.15)
It is left as an exercise for students to establish that:
, and
The Inverse Laplace transform of the expression without time delay:

(5.16a)

(5.16b)
Hint (for term 3): ,
[t-shifting theorem]
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 Transient Response of Systems with Time Delay

In dealing with the delay term during Laplace inversion,

the time domain variables are shifted by (1.5), thus

(5.16c)

(5.16a)

(5.16b)

(5.16d)

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 Sketching the Response of a Time Delay System

Fig. 5.9: Step response of a second order system to a unit step change

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 Transient Response of Systems with Time Delay

Example 5.3: Consider the doublet pulse depicted in the figure

below:
u(t)
(a) Write an equation to represent u(t)
(b) Find the Laplace Transform u(s) of
the input function 1
(c) Find the transient response of
FOPTD process to this input 0
function. 10 30 t

-2

(d) Sketch this transient response. Fig. 5.10: The doublet pulse

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 Transient Response of Systems with Time Delay

(a) Splitting the pulse into three steps, we have:

u(t)

1
Positive negative
step step
0
10 30
Positive t
step
-2

(5.17a)
(5.17b)

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 Transient Response of Systems with Time Delay

(b) (5.18a)
[t-shifting theorem]

(5.18b)

(5.18c)

(c) (5.18d)

(5.18e)
5.18f)

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 Transient Response of Systems with Time Delay

The common fraction to all the terms can be split into partial
fractions thus:
(5.18g)
In finding the inverse Laplace transform of (5.18f), omit the delay:
(5.18f)
(5.18g)
Using the [t-shifting theorem]

(5.18h)

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Transient Response of Systems with Time Delay

(5.18i)

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 Sketching the Response of Systems with Time Delay

Fig. 5.11a: Step response of a first order system to a doublet pulse

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Sketching the Response of Systems with Time Delay

Fig. 5.11b: Step response of a first order system to a doublet pulse

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 Approximation of Higher Order Transfer Functions

Time-delay systems
 Whenever there is movement of material/energy from one point
to another in a processing plant, there is a transport lag
associated with the flow.
 The occurrence of time delay presents some challenges in the
design of control system.
 Mathematically, it is represented as:

(5.19)

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 Polynomial approximation of Time Delay ( )

[1] Taylor’s series approximation

It is given as:
(5.20)
Most often it is truncated at the second term to give:
(5.21)
For example:
[2] 1/1 Pade approximant

(5.22)
[3] 2/2 Pade approximant

(5.23)

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 Approximation of Higher Order Transfer Function

SKOGESTAD HALF RULE

This rule is for reducing any high order transfer function g(s) to either
FOPTD or SOPTD:

(5.24a)

(5.24b)

(5.24c)

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 Skogestad half rule for reduction of a higher order transfer
function to first order plus time delay

I. Identify the dominant time constant (usually the dominant time

constant is the largest) and retain it in the reduced model. The
remaining time constants are referred to as the neglected time
constants.
II. If there is just one neglected time constant, add one-half of it to the
dominant time constant and the rest one-half to the existing time
delays.
III. If there are more than one neglected time constants, add one-half of
the largest neglected time constant to the dominant time constant
and the rest one-half to the existing time delays. Approximate other
time constant smaller than the largest neglected time constant using

IV. Approximate as time delays, right-half plane zeros using

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 Skogestad half rule for reduction of a higher order transfer
function to Second order plus time delay
I. Identify the two dominant time constants (usually the dominant time
constants are the largest two) and retain them in the reduced model. The
smaller of these two time constants is called the smallest retained. The
remaining time constants are referred to as the neglected time
constants.
II. If there is just one neglected time constant, add one-half of it to the
smallest retained time constant and the rest one-half to the existing time
delays.
III. If there are more than one neglected time constants, add one-half of the
largest neglected time constant to the smallest retained time constant and
the rest one-half to the existing time delays. Approximate other time
constant smaller than the largest neglected time constant using

IV. Approximate as time delays, right-half plane zeros using

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 Example 5.4
Consider a transfer function

Derive an approximate first order plus time delay model:

using two methods

[1] The Taylor’s series expansion
[2] Skogestad half-rule

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 Example 5.4
[1] By Taylor’s series expansion:
(5.25a)

(5.25b)

(5.25c)
(5.25d)
(5.25d)

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 Example 5.4
By Skogestad’s half rule:

Largest time constant=5

The neglected largest time constant=3

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 Example 5.4

Fig. 5.12: Comparison of the actual and approximate model of example 5.4

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 Example 5.5
Consider the following transfer function

Use Skogestad’s half rule to derive two approximate models:

[1] A first order plus time delay (FOPTD) model in the form:

[2] A second order plus time delay (SOPTD) model in the form:

[3] Compare the normalized output responses for g(s) and the
approximate models for a unit step input.

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 Example 5.5

Retained time constant = [12] ; neglected =[ 3, 0.2 , 0.05]

[1] The largest (retained) time constant=12
The largest (neglected) = 3

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 Example 5.5

Retained time constants = [12, 3] ; neglected =[0.2 , 0.05]

[2] Largest (retained) time constant=12, Smallest (retained)
constant=3
The largest (neglected) time constant = 0.2

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 Example 5.5

Fig. 5.13: Comparison of the actual and approximate model of example 5.5

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